Method, device, electronic device and storage medium for updating virtual wall

Abstract

The embodiments of the present application provide a method, device, electronic device and storage medium for updating virtual walls, which relate to the field of robot technology. The scheme includes: performing extended mapping on an original map to obtain an extended map, wherein the original map includes M virtual walls, where M is an integer greater than or equal to 1. According to one or more paths included in the extended map, the legitimacy of each of the M virtual walls in the extended map is detected. According to the legitimacy of each virtual wall in the extended map, the M virtual walls in the extended map are updated to obtain a target extended map, wherein the target extended map includes N virtual walls among the M virtual walls, where the N virtual walls are legal virtual walls in the extended map, where N is an integer greater than or equal to 0. The scheme is used to solve the technical problem of how to effectively avoid the robot's movement being hindered by illegal virtual walls in the extended map after the robot has expanded the map.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a method for updating a virtual wall, an electronic device, and a storage medium. Background Art

[0002] At present, when the robot is building a map, in order to prevent the robot from entering an area where no business point is set, a virtual wall is usually added to the map. The virtual wall generally generates a virtual wall signal and feeds it back to the robot, indicating that there is a wall ahead and it cannot move forward. When the scope of the map is further expanded, the robot will make local modifications to the original map and expand the map. However, in the prior art, after the robot expands the map and generates a new map, the new map will use the virtual wall set in the original map (hereinafter referred to as: the original virtual wall), but the original virtual wall may not be applicable to the new map. If the robot uses the new map to move later, it may happen that the robot stays in front of the original virtual wall and cannot enter the expanded area. Summary of the invention

[0003] The embodiments of the present application provide a method, device, electronic device and storage medium for updating virtual walls. The solution is used to solve the technical problem of how to effectively avoid the robot's movement being hindered by illegal virtual walls in the expanded map after the robot expands the map.

[0004] In a first aspect, an embodiment of the present application provides a method for updating a virtual wall, the method comprising: performing extended mapping on an original map to obtain an extended map, the original map comprising M virtual walls, where M is an integer greater than or equal to 1. According to one or more paths included in the extended map, detecting the legitimacy of each of the M virtual walls in the extended map. According to the legitimacy of each virtual wall in the extended map, updating the M virtual walls in the extended map to obtain a target extended map, the target extended map comprising N virtual walls among the M virtual walls, the N virtual walls being legal virtual walls in the extended map, where N is an integer greater than or equal to 0.

[0005] The embodiment of the present application provides a method for updating virtual walls. In the method, an extended map is constructed on the original map to obtain an extended map. The original map includes M virtual walls, where M is an integer greater than or equal to 1. The extended map is constructed on the basis of the original map instead of reconstructing the map to generate the extended map. The purpose of this is to improve the efficiency of map construction. In the method, after obtaining the extended map, the legitimacy of the virtual walls in the original map in the extended map is detected according to one or more paths included in the extended map. According to the legitimacy of each virtual wall in the extended map, the M virtual walls in the extended map are updated. Since the updated extended map includes N virtual walls out of the M virtual walls, and these N virtual walls are legal virtual walls in the extended map, and the target extended map does not include MN virtual walls out of the M virtual walls. In this way, it is ensured that the virtual walls in the obtained target extended map are legal, thereby effectively avoiding the problem of the robot being hindered from moving due to illegal virtual walls in the extended map.

[0006] In a possible implementation of the present application, based on one or more paths included in the extended map, the legitimacy of each of the M virtual walls in the extended map is detected, including: determining a virtual wall located on any one of the one or more paths among the M virtual walls as an illegal virtual wall. Determining a virtual wall that is not located on any one of the one or more paths among the M virtual walls as a legal virtual wall. In this manner, automatic and effective identification of virtual walls can be achieved through the positional relationship between virtual walls and paths on the map.

[0007] In a possible implementation of the present application, based on the legitimacy of each virtual wall in the extended map, M virtual walls in the extended map are updated to obtain a target extended map, including: setting the first virtual wall among the M virtual walls to be invalid in the extended map, and / or setting the second virtual wall among the M virtual walls to be valid in the extended map, obtaining the target extended map, the first virtual wall being an illegal virtual wall in the extended map, and the second virtual wall being a legal virtual wall in the extended map. In this way, illegal virtual walls in the extended map can be effectively and quickly screened out by electronic devices.

[0008] In a possible implementation of the present application, before or after obtaining the target extended map, the method further includes: outputting a first prompt message, the first prompt message being used to prompt the user of the current information of the extended map and guiding the user to set a virtual wall in the extended map. Detecting an operation of setting a virtual wall input by the user. In response to the operation, setting a third virtual wall in the extended map, and accordingly, the target extended map also includes the third virtual wall. In this way, the user can set the virtual wall he needs and obtain a complete updated extended map.

[0009] Optionally, after setting a first virtual wall among the M virtual walls to be invalid in the extended map, the method further includes: outputting second prompt information, where the second prompt information is used to prompt the user that the first virtual wall has been set to be invalid in the extended map.

[0010] In a possible implementation of the present application, the method provided in the embodiment of the present application further includes: the extended map at least includes one or more business points existing in the original map. In this way, other required business points in the original map except for the legal virtual walls are retained, thereby improving the efficiency of extended mapping.

[0011] Optionally, after the original map is expanded to obtain the extended map, the method further includes: generating one or more paths in the extended map according to the area covered by the extended map and one or more existing business points.

[0012] In a possible implementation of the present application, when the original map does not have a virtual wall, the original map is expanded to obtain an extended map, and the method further includes: outputting a third prompt information, the third prompt information being used to guide the user to set a virtual wall in the extended map. Detecting an operation of setting a virtual wall input by the user. In response to the operation, setting a fourth virtual wall in the extended map to obtain a target extended map.

[0013] In a possible implementation of the present application, after generating one or more paths in the extended map, the method further includes: guiding the user to set one or more extended business points according to the area covered by the extended map. One or more paths are generated in the extended map according to the area covered by the extended map, at least one original business point in the original map, and the extended business point.

[0014] In a second aspect, an embodiment of the present application provides a device for updating a virtual wall, which can implement the method in the first aspect or any possible implementation of the first aspect, and thus can also achieve the beneficial effects in the first aspect or any possible implementation of the first aspect. The device for updating the virtual wall can be an electronic device, or a device that supports an electronic device to implement the method in the first aspect or any possible implementation of the first aspect, such as a chip or control circuit used in an electronic device. The device for updating the virtual wall can implement the above method through software, hardware, or by executing corresponding software through hardware.

[0015] As an example, an embodiment of the present application provides a device for updating a virtual wall, which is an electronic device or a chip used in an electronic device, and the device for updating a virtual wall includes: an acquisition unit, a detection unit, and a processing unit, wherein the acquisition unit performs extended mapping on an original map to obtain an extended map, and the original map includes M virtual walls, where M is an integer greater than or equal to 1. The detection unit is used to detect the legitimacy of each of the M virtual walls in the extended map according to one or more paths included in the extended map. The processing unit is used to update the M virtual walls in the extended map according to the legitimacy of each virtual wall in the extended map to obtain a target extended map, and the target extended map includes N virtual walls among the M virtual walls, and the N virtual walls are legal virtual walls in the extended map, where N is an integer greater than or equal to 0.

[0016] In one possible implementation of the present application, the processing unit is also used to set the first virtual wall among the M virtual walls to be invalid in the extended map, and / or set the second virtual wall among the M virtual walls to be valid in the extended map, to obtain the target extended map, the first virtual wall is an illegal virtual wall in the extended map, and the second virtual wall is a legal virtual wall in the extended map.

[0017] In a possible implementation of the present application, before or after obtaining the target extended map, the processing unit is further used to output a first prompt message, the first prompt message is used to prompt the user of the current information of the extended map, and guide the user to set a virtual wall in the extended map. An operation of setting a virtual wall input by the user is detected; in response to the operation, a third virtual wall is set in the extended map, and accordingly, the target extended map also includes a third virtual wall. After setting the first virtual wall among the M virtual walls to be invalid in the extended map, the method further includes: outputting a second prompt message, the second prompt message is used to prompt the user that the first virtual wall has been set to be invalid in the extended map.

[0018] In a possible implementation of the present application, after the original map is extended to obtain the extended map, the acquisition unit is further used to guide the user to set one or more extended service points according to the area covered by the extended map. The one or more paths are generated in the extended map according to the area covered by the extended map, the one or more original service points and the extended service points.

[0019] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements a method for updating a virtual wall as described in any possible implementation of the first aspect to the first aspect.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is run on a computer, the computer executes a method for updating a virtual wall as described in any possible implementation of the first aspect to the first aspect.

[0021] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute a method for updating a virtual wall described in the first aspect or various possible implementations of the first aspect.

[0022] In a sixth aspect, an embodiment of the present application provides a device for updating a virtual wall for implementing various methods in various possible designs of the first aspect or any aspect of the first aspect. The device for updating a virtual wall may be the electronic device described above, or a device including the electronic device described above, or a component (e.g., a chip) used in the electronic device.

[0023] The device for updating the virtual wall described in the sixth aspect includes a module or unit corresponding to the above method, which can be implemented by hardware, software, or by hardware executing the corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0024] In a seventh aspect, an embodiment of the present application provides a device for updating a virtual wall, the device for updating a virtual wall comprising: at least one processor. When the device for updating a virtual wall is running, the processor executes a computer-executable instruction or program stored in the device for updating a virtual wall, so that the device for updating a virtual wall performs a method as described in any of the various possible designs of the first aspect. For example, the device for updating a virtual wall may be an electronic device, or a component used in an electronic device.

[0025] It should be understood that the processor described in the seventh aspect may also include: a bus and a memory, the memory being used to store code and data. Optionally, at least one processor sensor interface and the memory are coupled to each other.

[0026] In an eighth aspect, an embodiment of the present application provides a chip, comprising a processor, wherein the processor is used to run a computer program or instructions to implement the method for updating a virtual wall described in the first aspect or various possible implementations of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A flowchart of a method for updating a virtual wall provided in an embodiment of the present application;

[0028] Figure 2A first schematic diagram of a process for updating a legal virtual wall provided in an embodiment of the present application;

[0029] Figure 3 A second schematic diagram of a process for updating a legal virtual wall provided in an embodiment of the present application;

[0030] Figure 4 A third schematic diagram of a process for updating a legal virtual wall provided in an embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of a process for detecting the legitimacy of a virtual wall provided in an embodiment of the present application;

[0032] Figure 6 A schematic diagram of the structure of a device for updating a virtual wall provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] In order to illustrate the technical solution of the present invention, a specific embodiment is provided below for illustration.

[0036] The method for updating a virtual wall provided in the embodiment of the present application is applied to an electronic device, which may be a robot, or may be applied to an electronic device on a robot, or may be applied to other electronic devices. For example, the method for updating a virtual wall may be applied to a mobile phone or a server, and the virtual wall on the extended map may be updated through the mobile phone, and the updated extended map may be transmitted to the robot, so that the robot performs tasks according to the updated extended map. This embodiment will be described later by taking the method for updating a virtual wall applied to a robot as an example.

[0037] Among them, the robot can be a delivery and welcoming robot, a cleaning robot, a sweeping robot, a food delivery robot, etc., and this embodiment does not specifically limit this.

[0038] like Figure 1 As shown, Figure 1 A schematic flow chart of a method for updating a virtual wall provided in an embodiment of the present application is shown, including:

[0039] Step 110: The robot performs extended mapping on the original map to obtain an extended map, where the original map includes M virtual walls, where M is an integer greater than or equal to 1.

[0040] It is understandable that the scene for the robot to perform extended mapping can be a work scene, such as a restaurant, hospital, company, etc., or a life scene, such as an apartment, community, etc. This embodiment is described later by taking the scene that requires extended mapping as a work scene as an example.

[0041] As an example, when the robot is performing extended mapping, it can scan the work scene through LiDAR technology and send the acquired scan data to the robot. The robot uses the received scan data and the robot's built-in mapping algorithm to add other areas generated by the scan data to the original map, and make partial modifications to the map to obtain an extended map. Correspondingly, the other areas include new moving areas and new obstacle avoidance areas. The robot generates an extended map by extending the map instead of rebuilding the map, which improves the efficiency of map construction.

[0042] For example, the extended map construction work scenario is described as a restaurant. The original map can be the interior of the restaurant, which includes movable areas and obstacle avoidance areas, such as tables, wall pillars, etc. Based on the robot inside the restaurant, a part of the area outside the restaurant is added, which includes a new movable area, such as a part of the commercial block outside the restaurant, and a new obstacle avoidance area, such as signs in the commercial block. Thus, an extended map is obtained, which includes the interior of the restaurant and part of the area outside the restaurant.

[0043] Exemplarily, the above-mentioned obstacle avoidance areas can be divided into fixed obstacle avoidance areas, such as tables, wall pillars, etc., and / or movable obstacle avoidance areas, such as walking people.

[0044] The virtual wall provided in this embodiment is that after the robot completes the map construction and forms one or more paths, the robot sends a prompt message to the user to set the virtual wall, and then responds to the user's input operation and adds the set virtual wall to the constructed map. Optionally, the user may not perform the operation of setting the virtual wall.

[0045] It should be explained that the virtual wall is a set virtual wall signal, and there is no corresponding physical barrier in the actual scene. This signal can be fed back to the robot, indicating that there is a wall in front and it cannot move forward, thereby protecting the robot. Virtual walls can generally be set in areas that are not open to robots but can be reached by robots, such as stairs, open kitchens, etc.

[0046] Step 120: The robot detects the legitimacy of each of the M virtual walls in the extended map according to one or more paths included in the extended map.

[0047] In it, the robot can move through one or more paths at a certain speed.

[0048] Regarding how to form one or more paths included in the extended map and how to detect the legitimacy of each of the M virtual walls in the extended map, reference may be made to the description of the following embodiments, which will not be repeated here.

[0049] Step 130: The robot updates the M virtual walls in the extended map according to the legitimacy of each virtual wall in the extended map to obtain a target extended map.

[0050] The target extended map includes N virtual walls among the M virtual walls, and the N virtual walls are legal virtual walls in the extended map, where N is an integer greater than or equal to 0.

[0051] It can be understood that when N is 0, it means that the M virtual walls are all illegal virtual walls in the extended map, and the extended map does not include any of the M virtual walls. Of course, when N is an integer greater than 0, it means that N of the M virtual walls are legal in the extended map (i.e., legal virtual walls) and MN virtual walls are illegal in the extended map, i.e., illegal virtual walls. Therefore, the target extended map finally obtained does not include the MN virtual walls.

[0052] For example, Figure 2 As shown, the original map has virtual walls 1 to 6. After the extended map is obtained, the extended map is Figure 3 As shown, if it is detected that virtual walls 1 to 6 have virtual walls 1 to 3 located in the path of the extended map, while virtual walls 4 to 6 are not located in any path, it can be determined that virtual walls 1 to 3 are illegal virtual walls in the extended map, while virtual walls 4 to 6 are legal virtual walls in the extended map. Figure 4 The target extended map shown includes virtual walls 4 to 6, but does not include virtual walls 1 to 3, or virtual walls 1 to 3 are invalid in the extended map. In other words, virtual walls 1 to 3 are not displayed in the extended map.

[0053] Regarding how to update the M virtual walls in the extended map and obtain the target extended map, reference may be made to the description of the following embodiment, which will not be repeated here.

[0054] The embodiment of the present application provides a method for updating virtual walls. Since the present application performs extended mapping on the original map, after obtaining the extended map, the legality of the M virtual walls included in the original map in the extended map will be detected according to one or more paths included in the extended map, and the M virtual walls in the extended map will be updated, so that the final target extended map does not have illegal virtual walls. Through the solution of the present application, after the robot expands the map, it can be achieved that the movement of the robot is effectively avoided due to the illegal virtual walls in the extended map.

[0055] In a possible embodiment of the present application, the extended map at least includes one or more original business points in the original map. In this way, after the robot performs extended mapping on the original map to obtain the extended map, the method provided in the embodiment of the present application further includes: the robot guides the user to set one or more extended business points according to the area covered by the extended map. Then, the robot generates one or more paths in the extended map according to the area covered by the extended map, one or more original business points and one or more extended business points.

[0056] The one or more paths are topological paths generated by using the original business points and the extended business points in the extended map as nodes, and a topological map is generated. In this way, the robot can move at a certain speed through the generated topological path.

[0057] It should be explained that the topological map is composed of topological points and topological paths. Among them, the topological points represent the important positions of the robot in the environment, such as dining tables, corners, doors, elevators, etc. with different serial numbers, which can be represented in the form of coordinates on the topological map. The topological path represents the path that the robot can move at a certain speed in the scene, such as aisles and corridors. The planning method of the topological map is mainly based on the dimensionality reduction method, that is, the method of identifying connectivity by converting high-dimensional and relatively complex spatial geometric paths into low-dimensional and relatively simple topological spaces.

[0058] Correspondingly, the original business point and the extended business point are represented as corresponding topological points in the topological map, and one or more paths are represented as corresponding topological paths in the topological map.

[0059] As an example, after the map is constructed, the robot sets the business point on the constructed map through the user's input operation. Optionally, after the map is constructed, the robot may send a prompt message to the user to set the business point, and then add the set business point to the constructed map in response to the user's input operation. Optionally, the user may not perform the operation of setting the business point.

[0060] Exemplarily, the robot can move at a certain speed in a work scene, such as the interior of a restaurant and a portion of the exterior of a restaurant, through one or more paths formed, and reach the location of each business point.

[0061] In a possible implementation of the present application, the robot performs extended mapping on the original map. Before obtaining the extended map, the robot may determine to perform extended mapping in the following manner:

[0062] The robot obtains the extended mapping instruction. Then, the robot determines to extend the original map according to the extended mapping instruction.

[0063] As an example, the user can input an extended mapping instruction to the robot according to the need for extended mapping. Optionally, the robot is equipped with an electronic screen that can receive user instructions. When the user determines that the original map needs to be extended, the user can input the extended mapping instruction on the electronic screen, so that the robot determines to extend the original map. Of course, optionally, when the robot has the function of communicating with other electronic devices, the user inputs the extended mapping instruction on the electronic device according to the need for extended mapping, and sends the instruction to the robot through the communication connection established between the robot and the electronic device, so that the robot determines to extend the original map.

[0064] It should be explained that the input method of the extended mapping instruction can be a manual input by the user to the robot or electronic device, or can be other input methods such as voice, etc. This embodiment of the application is not limited to this.

[0065] Optionally, the need for extended mapping may be because the robot has added new service items, thereby expanding the scope of services that the robot needs to provide.

[0066] Exemplarily, taking the delivery robot in the restaurant as an example, the service items of the original delivery robot are: in the restaurant, according to the serial number of the table, the delivery robot delivers different items to the tables with different serial numbers. Therefore, the service range of the original delivery robot is inside the restaurant. When the delivery robot adds new service items, such as welcoming guests outside the restaurant, the original delivery robot is updated to a welcoming delivery robot. Therefore, the service range of the welcoming delivery robot is a certain range inside and outside the restaurant. Optionally, the certain range can be 50m or 100m, which is not limited in the embodiments of the present application. Optionally, the certain range can be manually set by the user according to the needs of extended mapping, or the robot can provide the user with a range selection for extended mapping. For example, the range selection can be 50m or 100m, which is not limited in the embodiments of the present application.

[0067] In a possible embodiment of the present application, the robot detects the legitimacy of each virtual wall in the extended map according to one or more paths included in the extended map, such as Figure 5 As shown, the following steps are included:

[0068] Step 121: The robot determines a virtual wall located on any one of the one or more paths among the M virtual walls as an illegal virtual wall.

[0069] As an example, the M virtual walls can be set as straight lines on the map. When the straight line intersects or overlaps with the one or more paths, the virtual wall is determined to be an illegal virtual wall. Optionally, the set straight line can also be a dotted line. This embodiment does not specifically limit this.

[0070] As another example, the M virtual walls can also be set as polygonal areas on the map. When one or more paths pass through the polygonal area, or when one or more paths have overlapping points with the polygonal area, the virtual wall is determined to be an illegal virtual wall. Optionally, the polygonal area can be a shape supported by the robot, such as a rectangle or a hexagon, and the size of the polygon can be directly adjusted. Optionally, the rectangular area can also be composed of straight line shapes. This embodiment does not specifically limit this.

[0071] Step 122: The robot determines a virtual wall among the M virtual walls that is not located on any of the one or more paths as a legal virtual wall.

[0072] In the above embodiment, a method for updating the validity of a virtual wall can be implemented by detecting the positional relationship between the virtual wall and the path.

[0073] In a possible embodiment of the present application, the robot updates M virtual walls of the extended map according to the legitimacy of each virtual wall in the extended map to obtain a target extended map, including: the robot sets the first virtual wall among the M virtual walls to be invalid in the extended map, and / or sets the second virtual wall among the M virtual walls to be valid in the extended map to obtain the target extended map. The first virtual wall is an illegal virtual wall in the extended map, and the second virtual wall is a legal virtual wall in the extended map.

[0074] As an example, the first virtual wall among the M virtual walls is set to be invalid in the extended map, and the robot may delete the first virtual wall when the first virtual wall is an illegal virtual wall in the extended map. Optionally, before deleting the first virtual wall, the robot may ask the user whether the virtual wall needs to be deleted, so as to prevent the robot from accidentally deleting a virtual wall required by the user.

[0075] As another example, the first virtual wall among the M virtual walls is set to be invalid in the extended map, or the robot sets the first virtual wall to an unavailable state when the first virtual wall is an illegal virtual wall in the extended map. Optionally, the unavailable state may be represented by the robot not making an obstacle avoidance response to the virtual wall. Optionally, the unavailable state may also be represented by the virtual wall moving from the extended map to another area. Optionally, before setting the first virtual wall to an unavailable state, the robot may ask the user whether the virtual wall needs to be set to an unavailable state. Optionally, the user may choose to restore the virtual wall in an unavailable state. The purpose of doing this is to prevent the robot from accidentally deleting it.

[0076] The target extension map includes original business points, extended business points, one or more paths and a second virtual wall.

[0077] In the above embodiment, by setting the first virtual wall among the M virtual walls to be invalid in the extended map, and / or setting the second virtual wall among the M virtual walls to be valid in the extended map, illegal virtual walls in the extended map can be effectively and quickly screened out.

[0078] Accordingly, in a possible embodiment of the present application, before or after the robot obtains the target extended map, the method provided by the embodiment of the present application also includes: the robot outputs a first prompt message, wherein the first prompt message is used to prompt the user of the current information of the extended map and guide the user to set a virtual wall in the extended map. Then, the robot detects the operation of setting a virtual wall input by the user. Then, in response to the operation, the robot sets a third virtual wall in the extended map, and accordingly, the target extended map also includes a third virtual wall. In this way, after the robot sets the first virtual wall among the M virtual walls to be invalid in the extended map, the method provided by the embodiment of the present application also includes: the robot outputs a second prompt message, and the second prompt message is used to prompt the user that the first virtual wall has been set to be invalid in the extended map.

[0079] In a possible implementation of the present application, the target extension map does not include illegal virtual walls. Accordingly, when the robot displays the target extension map, the illegal virtual walls are not displayed in the target extension map.

[0080] For example, the robot may be provided with a device having a display interface. Through the device, the first prompt information may be displayed on the display interface to prompt the user of the current information in the extended map. The extended map is displayed on the display interface, and a guide message is sent to the user to prompt the user to set a virtual wall on the display interface. At the same time, the robot responds to the user's operation and displays the setting status in the target extended map to the user.

[0081] It should be noted that the current information in the extended map represents the extension status of the map before or after obtaining the target extended map.

[0082] Optionally, the shape of the virtual wall can be a straight line. Optionally, the shape of the virtual wall can be a polygon. Please refer to the description of the above embodiment, which will not be repeated here.

[0083] The target extension map includes original business points, extended business points, one or more paths, a second virtual wall and a third virtual wall.

[0084] Typically, an extended map is constructed on the original map to obtain an extended map, and the original map includes M virtual walls, and M may also be 0, that is, the original map has no virtual walls. When M is 0, that is, when the original map has no virtual walls, the subsequent steps performed are usually different.

[0085] In a possible embodiment of the present application, when the original map does not have a virtual wall, the method provided by the embodiment of the present application includes the following steps:

[0086] The robot outputs a third prompt information, and the third prompt information is used to guide the user to set a virtual wall in the extended map. The robot detects the user input operation of setting a virtual wall, and in response to the operation, sets a fourth virtual wall in the extended map to obtain a target extended map.

[0087] Optionally, the method provided in the embodiment of the present application may further include: the robot performing business processing according to the extended map.

[0088] Exemplarily, the scenario in which the robot can be applied may be a restaurant. In the original map, the robot can reach the designated business point area by moving through one or more paths in the original map. Optionally, the robot can deliver items in this way. When the original map is expanded and mapped according to the needs of the user, an extended map is obtained. Optionally, the user's needs may be to add a welcoming function to the robot on the basis of delivering items. Accordingly, the robot expands a part of the external area of ​​the restaurant to obtain an extended map. The robot can move in a part of the external area of ​​the restaurant through the extended map to perform corresponding welcoming work.

[0089] Optionally, when the above-mentioned execution entity is not a robot, the method provided in the embodiment of the present application may also include a server or an electronic device such as a mobile phone providing a target expansion map to the robot to trigger the robot to perform related tasks according to the target expansion map.

[0090] It is understandable that each device, such as an electronic device, includes a structure and / or software module corresponding to each function in order to implement the above functions. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0091] The embodiment of the present application can divide the functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0092] Combined with the above Figures 1 to 5 , the method of the embodiment of the present application is described, and the device for executing the above method provided by the embodiment of the present application is described below. Those skilled in the art can understand that the method and the device can be combined and referenced with each other, and the device for updating the virtual wall provided by the embodiment of the present application can execute the steps executed by the electronic device in the above method for updating the virtual wall.

[0093] In the case of integrated units, Figure 6 The device for updating the virtual wall involved in the above-mentioned embodiment is shown. The device for updating the virtual wall can be an electronic device or a device applied to an electronic device, such as a chip or a processing circuit. The device for updating the virtual wall can include: an acquisition unit 210, a detection unit 220, and a processing unit 230.

[0094] In an optional implementation, the device for updating the virtual wall may further include a storage unit for storing program codes and data of the device for updating the virtual wall.

[0095] In one example, the device for updating the virtual wall is an electronic device, or a chip used in an electronic device. The acquisition unit 210 performs extended mapping on the original map to obtain an extended map, and the original map includes M virtual walls, where M is an integer greater than or equal to 1. The detection unit 220 is used to detect the legitimacy of each of the M virtual walls in the extended map based on one or more paths included in the extended map. The processing unit 230 is used to update the M virtual walls in the extended map based on the legitimacy of each virtual wall in the extended map to obtain a target extended map, and the target extended map includes N virtual walls out of the M virtual walls, and the N virtual walls are legal virtual walls in the extended map, where N is an integer greater than or equal to 0.

[0096] In one possible implementation, the processing unit 230 is further used to set a first virtual wall among the M virtual walls to be invalid in the extended map, and / or to set a second virtual wall among the M virtual walls to be valid in the extended map, to obtain a target extended map, the first virtual wall is an illegal virtual wall in the extended map, and the second virtual wall is a legal virtual wall in the extended map.

[0097] In a possible implementation, before or after obtaining the target extended map, the processing unit 230 is further used to output a first prompt message, the first prompt message is used to prompt the user of the current information of the extended map and guide the user to set a virtual wall in the extended map. An operation of setting a virtual wall input by the user is detected; in response to the operation, a third virtual wall is set in the extended map, and accordingly, the target extended map also includes a third virtual wall. After setting the first virtual wall among the M virtual walls to be invalid in the extended map, the method further includes: outputting a second prompt message, the second prompt message is used to prompt the user that the first virtual wall has been set to be invalid in the extended map.

[0098] In a possible implementation of the present application, after the original map is extended to obtain the extended map, the acquisition unit 210 is further used to guide the user to set one or more extended business points according to the area covered by the extended map. The one or more paths are generated in the extended map according to the area covered by the extended map, the one or more original business points and the extended business points.

[0099] The processing unit 230 may be a processor or a controller, such as a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present application. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like. The storage module may be a memory.

[0100] Further references Figure 7 , Figure 7 Schematic diagram of the structure of the electronic device 300 provided in the embodiment of the present application. Figure 7 As shown, the electronic device 300 of this embodiment includes: at least one processor 310 ( Figure 7 Only one processor is shown in the figure), a memory 320, and a computer program 330 stored in the memory 320 and executable on at least one processor 310, such as a data processing program. When the processor 310 executes the computer program 330, the steps in any of the above-mentioned method embodiments are implemented. When the processor 310 executes the computer program 330, the steps in the above-mentioned data processing method embodiments are implemented. When the processor 310 executes the computer program 330, the functions of the modules / units in the above-mentioned device embodiments are implemented, such as Figure 6 The functions of the units 210 to 230 are shown.

[0101] Optional, such as Figure 7 The structure of the charging device 300 shown may also include a memory, which may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may also be integrated with the processor.

[0102] The memory is used to store computer-executable instructions for executing the solution of the present application, and the execution is controlled by the processor. The processor is used to execute the computer-executable instructions stored in the memory, thereby realizing a method for updating a virtual wall provided in the following embodiment of the present application.

[0103] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0104] In one aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the instructions are executed, the following is implemented: Figure 7 Functions performed by the electronic device 300.

[0105] In one aspect, a computer program product is provided, wherein the computer program product includes instructions, and when the instructions are executed, the following are implemented: Figure 7 Functions performed by the electronic device 300.

[0106] On the one hand, an embodiment of the present application provides a chip, which is applied to an electronic device 300, and the chip includes at least one processor, which is used to run instructions to implement the following Figure 7 Functions performed by the electronic device 300.

[0107] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instruction may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it may also be an optical medium, for example, a digital video disc (DVD); it may also be a semiconductor medium, for example, a solid state drive (SSD).

[0108] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0109] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for updating a virtual wall, characterized in that: The method comprises: Performing extended mapping on the original map to obtain an extended map, wherein the original map includes M virtual walls, where M is an integer greater than or equal to 1; According to one or more paths included in the extended map, detecting the legitimacy of each of the M virtual walls in the extended map, wherein a virtual wall among the M virtual walls that is located on any one of the one or more paths is determined to be an illegal virtual wall, and / or a virtual wall among the M virtual walls that is not located on any one of the one or more paths is determined to be a legal virtual wall; According to the legitimacy of each virtual wall in the extended map, the M virtual walls in the extended map are updated to obtain a target extended map, wherein the target extended map includes N virtual walls among the M virtual walls, and the N virtual walls are legal virtual walls in the extended map, where N is an integer greater than or equal to 0.

2. The method for updating a virtual wall according to claim 1, characterized in that: The step of determining a virtual wall located on any one of the one or more paths among the M virtual walls as an illegal virtual wall includes: The M virtual walls are set as straight lines on the extended map, and the virtual walls corresponding to the straight lines intersecting or overlapping with the one or more paths are determined as illegal virtual walls; or The M virtual walls are set as polygonal areas on the extended map, and virtual walls corresponding to polygonal areas passed by the one or more paths or polygonal areas overlapped with the one or more paths are determined as illegal virtual walls.

3. The method for updating a virtual wall according to claim 1, characterized in that: The updating of the M virtual walls in the extended map according to the legitimacy of each virtual wall in the extended map to obtain a target extended map includes: A first virtual wall among the M virtual walls is set to be invalid in the extended map, and / or a second virtual wall among the M virtual walls is set to be valid in the extended map, to obtain the target extended map, the first virtual wall is an illegal virtual wall in the extended map, and the second virtual wall is a legal virtual wall in the extended map.

4. The method for updating a virtual wall according to claim 3, characterized in that: Before or after obtaining the target extension map, the method further includes: Outputting first prompt information, where the first prompt information is used to prompt the user of current information of the extended map and guide the user to set a virtual wall in the extended map; An operation of setting a virtual wall input by a user is detected; In response to the operation, a third virtual wall is set in the extended map, and the target extended map also includes the third virtual wall.

5. The method for updating a virtual wall according to claim 1, characterized in that: The extended map at least includes one or more original business points in the original map. After the original map is extended and mapped to obtain an extended map, the method further includes: Guiding the user to set one or more extended service points according to the area covered by the extended map; The one or more paths are generated in the extended map according to the area covered by the extended map, one or more of the original service points and the extended service point.

6. The method for updating a virtual wall according to any one of claims 1 to 5, characterized in that: In the case that the original map does not have a virtual wall, after performing extended mapping on the original map to obtain an extended map, the method further includes: outputting third prompt information, wherein the third prompt information is used to guide the user to set a virtual wall in the extended map; An operation of setting a virtual wall input by a user is detected; In response to the operation, a fourth virtual wall is set in the extended map to obtain a target extended map.

7. The method for updating a virtual wall according to claim 6, characterized in that: After generating one or more paths in the extended map, the method further comprises: Guiding the user to set one or more extended service points according to the area covered by the extended map; One or more paths are generated in the extended map according to the area covered by the extended map, at least one original service point in the original map, and one or more extended service points.

8. A device for updating a virtual wall, characterized in that: include: An acquisition unit performs extended mapping on the original map to obtain an extended map, wherein the original map includes M virtual walls, where M is an integer greater than or equal to 1; a detection unit, configured to detect the legitimacy of each of the M virtual walls in the extended map according to one or more paths included in the extended map, wherein a virtual wall among the M virtual walls that is located on any one of the one or more paths is determined to be an illegal virtual wall, and / or a virtual wall among the M virtual walls that is not located on any one of the one or more paths is determined to be a legal virtual wall; A processing unit is used to update the M virtual walls in the extended map according to the legitimacy of each virtual wall in the extended map to obtain a target extended map, wherein the target extended map includes N virtual walls among the M virtual walls, and the N virtual walls are legal virtual walls in the extended map, and N is an integer greater than or equal to 0.

9. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor is configured to implement the method according to any one of claims 1 to 7 when calling and executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is called and executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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